122 and the second continuum fixing disk 142 are always parallel to each other during driving.

In the present embodiment, as shown in FIG. 2, the flexible surgical tool system further includes a surgical effector mechanism 16. Surgical effector mechanism 16 includes a surgical effector 50 disposed on third continuum fixing plate 152 and a surgical effector control wire 163. A distal end of the surgical effector control wire 163 is connected with the surgical effector 50, and a proximal end of the surgical effector control wire 163 passes through the mechanical arm 10 and then is connected with the first sliding block 224 or the second sliding block 225, so that opening and closing actions of the surgical effector 50 can be controlled under the driving of the linear motion mechanism 22.

In the present embodiment, the mechanical arm 10 further includes a rigid feed segment 11. The rigid feed segment 11 includes a rigid feed segment spacer disk 111. A plurality of rigid feed segment spacer disks 111 are spaced at the proximal side of the first continuum fixing disk 122. The first continuum segment 12 further includes a first continuum spacer disk 121. A plurality of first continuum spacer disks 121 are spaced between the distal side of the first continuum fixing disk 122 and the proximal side of the rigid connection fixing disk 132. The direction-controlling continuum structural bone 123 sequentially passes through the rigid feed segment spacer disks 111 and the first continuum spacer disks 121 to prevent instability of the direction-controlling continuum structural bone 123 when pushed.

The rigid connection segment 13 further includes rigid connection spacer disk 131. A plurality of rigid connection spacer disks 131 are spaced at distal side of the rigid connection fixing disk 132. The second continuum segment 14 further includes second continuum spacer disk 141. A plurality of second continuum spacer disks 141 are spaced at proximal side of the second continuum fixing disk 142. The first dual continuum structural bone 143 sequentially passes through the first continuum spacer disks 121, the rigid connection spacer disks 131, and the second continuum spacer disks 141 to limit the first dual continuum structural bones 14.

The third continuum segment 15 further includes a third continuum spacer disk 151. A plurality of third continuum spacer disks 151 are spaced between distal side of the third continuum fixing disk 152 and distal side of the second continuum connection fixing disk 142. Both the second dual continuum structural bone 153 and the surgical effector control wire 163 sequentially pass through each rigid feed segment spacer disk 111, the first continuum spacer disk 121, the rigid connection spacer disk 131, the second continuum spacer disk 141, and the third continuum spacer disk 151 to limit the second dual continuum structural bones 153 and prevent instability of the surgical effector control wire 163 when pushed.

In the present embodiment, as shown in FIGS. 3, 7, and 8, the transmission driving unit 20 further includes a base frame 21. The base frame 21 includes a first support plate 211 and a second support plate 213 spaced apart from each other. The double-threaded rod 221 is axially rotatably connected with the first support plate 211 and the second support plate 213. A first guide rod 222 and a second guide rod 223 are axially connected between the first support plate 211 and the second support plate 213. The first sliding block 224 and the second sliding block 225 are slidably connected with the first guide rod 222 and the second guide rod 223, respectively. The first guide rod 222 and the second guide rod 223 have limiting and guiding functions to enable the first sliding block 224 and the second sliding block 225 to smoothly perform opposite linear motions. The base frame 21 includes a compression block 226. The direction-controlling continuum structural bones 123, the proximal continuum structural bones 173, and the surgical effector control wire 163 are secured, by the compression block 226, with the first sliding block 224 and the second sliding block 225.

In this embodiment, the base frame 21 further includes a connection plate 212 disposed between the first support plate 211 and the second support plate 213 and connected with the second guide rod 223. The double-threaded rod 221 passes through the connection plate 212 and has a gap therebetween. The connection plate 212 can separate the two threaded sections of the double-threaded rod 221. the base frame 21 further includes a third support plate 214 connected with the second support plate 213 via a first guide rod 222, so that an arrangement space for other required electrical components is formed between the second support plate 213 and the third support plate 214.

In this embodiment, a positioning sleeve 401 can be disposed over the first guide rod 222 and the second guide rod 223 to position the connection plate 212 and the third support plate 214. Alternatively, the first support plate 211 and the second support plate 213 may be fixedly connected by a threaded support rod, and positioning nuts cooperatively connected with the support rod can position the first support plate 211, the second support plate 213 and the connection plate 212. Therefore, the positioning sleeve 401 can be replaced with the positioning nuts.

In this embodiment, there are five linear motion mechanisms 22. The first pair of linear motion mechanisms 22 can be each connected with a pair of direction-controlling continuum structural bones 123 to achieve the bending degrees of freedom in two directions for first continuum segment 12. A second pair of linear motion mechanisms 22 can be each connected with a pair of proximal continuum structural bones 173 to achieve the bending degrees of freedom in two directions for the third continuum segment 15. And a linear motion mechanism 22 is connected with the surgical effector control wire 163 to control the operation of the surgical effector 50.

In this embodiment, direction-controlling continuum structural bones 123 and second dual continuum structural bones 153 pass through guide plate 162 via guide channels 161 and are connected with first sliding block 224 and second sliding block 225, respectively. Surgical effector control wire 163 passes through guide plate 162 via guide channel 161 and is also connected with first sliding block 224 or second sliding block 225.

In this embodiment, the double-threaded rod 221 is connected with a coupling male connector 402 mounted on the third support plate 214, and then, with the driving motor shaft via the coupling female connector.

In this embodiment, as shown in FIG. 9, a housing 230 is provided outside the transmission driving unit